🤖 Robotics · Flowchart
ROS 2 Mobile Robot Architecture
The software nodes inside a ROS 2 autonomous mobile robot: sensors, localisation, mapping, planning, control and the fleet connection.
Drawing diagram…
What this diagram shows
- Sensor drivers publish lidar, camera and wheel data as topics
- Localisation and mapping estimate where the robot is
- The navigation stack plans paths and sends velocity commands
Prompt used
Flowchart of ROS 2 nodes in an autonomous mobile robot: lidar, depth camera, IMU and wheel encoder drivers publish sensor topics; odometry fuses IMU and wheels; AMCL localisation uses lidar and the map server; the Nav2 planner computes a global path and the controller follows it, publishing cmd_vel to the motor controller; the safety node can stop the robot from lidar or the e-stop; a fleet bridge exchanges tasks and status with the fleet manager.
Mermaid code
flowchart LR LIDAR[Lidar driver] -->|/scan| LOC[AMCL Localisation] CAM[Depth camera driver] -->|/points| COST[Costmaps] IMU[IMU driver] -->|/imu| ODOM[Odometry fusion] ENC[Wheel encoders] -->|/wheel| ODOM ODOM -->|/odom| LOC MAP[Map server] -->|/map| LOC LIDAR --> COST LOC -->|/pose| PLAN[Nav2 Planner] COST --> PLAN PLAN -->|Global path| CTRL[Nav2 Controller] CTRL -->|/cmd_vel| SAFE[Safety node] SAFE -->|Checked cmd_vel| MOTOR[Motor controller] ESTOP[E-stop] --> SAFE FLEET[Fleet bridge] <-->|Tasks and status| PLAN
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